cmake_minimum_required(VERSION 3.0.2)
project(haikangdecte)

## Compile as C++11, supported in ROS Kinetic and newer
#add_compile_options(-std=c++11)
#add_compile_options(-MMD -MP )
#add_compile_options(-std=c++11 )
#add_compile_options(-std=c++14 )
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_compile_options(-std=c++11)
add_compile_options(-std=c++14)
#CXXFLAGS += -MMD -MP
#CXXFLAGS += -std=c++11

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages

# 寻找OpenCV库


set(OpenCV_DIR /home/sukai/3rdparty/opencv4.5.0/build/install/lib/cmake/opencv4 )
set(OPENCV_EXTRA_MODULES_PATH /home/sukai/3rdparty/opencv4.5.0/opencv_contrib-4.5.0/modules)
set(OPENCV_ENABLE_NONFREE ON)
# 设置OpenCV的编译选项
add_definitions(-DOPENCV_ENABLE_NONFREE=ON)

#find_package(OpenCV REQUIRED)
find_package(OpenCV REQUIRED QUIET)
include_directories(${OpenCV_INCLUDE_DIRS})


find_package(catkin REQUIRED COMPONENTS
  roscpp
  rosmsg
  rospy
        cv_bridge
        image_transport
        sensor_msgs
        std_srvs
        maindecte_msgs
        maindecte_srvs
)


#if (POLICY CMP0072)
    #set(OpenGL_GL_PREFERENCE LEGACY)
    #set(OpenGL_GL_PREFERENCE GLVND)

#endif()

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
#find_package(SQLite3 REQUIRED)
## System dependencies are found with CMake's conventions  报错以及相关boost问题 https://blog.csdn.net/qq_43111963/article/details/117869259 ||cmake与boost版本不兼容[1] https://stackoverflow.com/questions/65560775/cmake-new-boost-version-may-have-incorrect-or-missing-dependencies-and-importe


# OpenCV
#find_package(OpenCV REQUIRED QUIET)
#find_package(Eigen3 REQUIRED QUIET)

#find_package(MPI REQUIRED)
#find_package(Threads REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()



################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
#catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES contNav
#  CATKIN_DEPENDS roscpp rosmsg rospy
#  DEPENDS system_lib
#)


catkin_package(
        #  INCLUDE_DIRS include
        #  LIBRARIES visualOrientation
        #  CATKIN_DEPENDS roscpp rosmsg rospy
        #  DEPENDS system_lib
        #CATKIN_DEPENDS geometry_msgs roscpp rosmsg rospy  tf
       # CATKIN_DEPENDS geometry_msgs roscpp rosmsg rospy  tf
)
###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
   include
  ${catkin_INCLUDE_DIRS}
        #/usr/include/mysql
        /usr/local/include
        ${PCL_INCLUDE_DIRS}
        #${OpenCV_INCLUDE_DIRS}



        /home/sukai/3rdparty/opencv4.5.0/build/install/include  #ubuntu20.04
        #  /usr/include/eigen3
        #/usr/local/include/opencv4
)

# find / -name "libAudioRender.so" 2>/dev/null
link_directories(
        #/home/shi/docker/3rtparty/opencv4.5.0/build/install/lib   #opencv_world.so
        #/usr/local/lib   #ubuntu18.04
        #/home/sukai/3rtparty/opencv4.5.0/build/install/lib  #ubuntu20.04
        lib
        linux64/lib
        linux64/proj
        linux64/lib/HCNetSDKCom
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/contNav.cpp
# )


#add_subdirectory(src/common)
#include_directories(./src/common)
#
#add_subdirectory(src/log)
#include_directories(./src/log)


# 查找所有cpp文件并将其存储在 SOURCES 变量中
file(GLOB SOURCES "src/*.cpp")

message("==============susuusu===============: ${SOURCES}")

# 创建可执行文件
add_executable(haikangdecte_node ${SOURCES})
add_dependencies(haikangdecte_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(haikangdecte_node  ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}
        #opencv_world
        #mysqlclient

#        analyzedata
#        AudioIntercom
#        HCAlarm
#        HCCoreDevCfg
#        HCDisplay
#        HCGeneralCfgMgr
#        HCIndustry
#        HCPlayBack
#        HCPreview
#        HCVoiceTalk
#        iconv2
#        StreamTransClient
#        SystemTransform
#
#
#
#        hcnetsdk
#        HCCore
#        AudioRender
#        crypto
#        hpr
#        NPQos
#        PlayCtrl
#        ssl
#        SuperRender
#        commonFun


        hcnetsdk
        HCCore
        AudioRender
        crypto
        hpr
        NPQos
        PlayCtrl
        ssl
        SuperRender

        analyzedata
        HCAlarm
        HCCoreDevCfg
        HCDisplay
        HCGeneralCfgMgr
        HCIndustry
        HCPlayBack
        HCPreview
        HCVoiceTalk
        iconv2
        StreamTransClient
        SystemTransform



        )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide src/sqlite/CppSQLite3.cpp
##========================test=============================================




##---






#add_executable(scan_to_pointcloud2_converter_node src/scan_to_pointcloud2_converter/scan_to_pointcloud2_converter.cpp )


## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against









#target_link_libraries(scan_to_pointcloud2_converter_node  ${catkin_LIBRARIES}   )



#####



## web ##


## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_contNav.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
